Handling assembly comprising a handling device for carrying out at least one work step, method, and computer program

ABSTRACT

A handling assembly having a handling device for carrying out at least one working step with and/or on a workpiece in a working region of the handling device, stations being situated in the working region, with at least one monitoring sensor for the optical monitoring of the working region and for provision as monitoring data, with a localization module, the localization module being designed to recognize the stations and to determine a station position for each of the stations.

FIELD

A handling assembly is provided having a handling device for carryingout at least one work step with and/or on a workpiece in a workingregion of the handling device, stations being situated in the workingregion, having at least one monitoring sensor for the optical monitoringof the working region and for provision as monitoring data. In addition,a method and a corresponding computer program are provided.

BACKGROUND INFORMATION

Handling devices, such as industrial robots, are frequently used inindustrial production. A program of an industrial robot defines thespatial position and orientation of points in space that the robottraverses in a temporal and/or logical sequence. Through aposition-dependent chaining of switching signals, tools, for examplegrippers, weld torches, or dispensers, are controlled, and in this wayvarious applications can be handled by one robot.

The conventional training methods today for handling devices can beroughly classified into online programming and off-line programming:

-   -   Online programming is distinguished in that the handling device        is moved manually to target positions using a manual operating        device, and after being reached these positions are stored in        the control unit. Alternatively, some robot kinematic systems        offer the possibility of switching off force to the arm and        training the points in space through direct guiding of the arm.        The definition of the sequences is done in particular through        source code programming.    -   Off-line programming is distinguished in that construction        models, for example CAD models, of the handling device and of        the complete manufacturing environment are stored. In a        simulated environment, analogous to online programming, the        mechanisms of the online programming are carried out virtually,        or movement points are derived directly from the CAD model.

German Patent Application No. DE 10 2016 002 781 A1 describes a workstation for carrying out at least one work process with at least onerobot that has a plurality of robot axles connected to one another inarticulated fashion and movable relative to one another, a cart havingfloor contact elements via which the cart can be moved along a floor,and at least one work plate that has a plurality of fastening elementsby which the robot can be fastened on the work plate in differentpositions.

SUMMARY

The present invention provides an example handling assembly having ahandling device for carrying out at least one work step. In addition, anexample method for carrying out a work step, and an example computerprogram for carrying out the example method, are provided in accordancewith the present invention. Preferred and/or advantageous specificembodiments of the present invention are described herein and are shownin the figures.

According to the present invention, an example handling assembly isprovided having a handling device for carrying out at least one workstep with a workpiece and/or on a workpiece, in a working region of thehandling device. The handling assembly includes at least one handlingdevice, or alternatively a plurality of handling devices. In particular,it is provided that the handling device is situated in stationaryfashion in the working region; alternatively, the handling device ismovable in the working region. The handling device is in particular arobot. The handling device is specifically a multi-arm robot, forexample a two-arm robot or a three-arm robot. Particularly preferably,the handling device is a multi-axle robot, the multi-axle robotpreferably having at least three axles and/or being movable and/orrotatable about these axles. Optionally, the handling device is forexample a collaborating and/or cooperating robot. The handling device isfor example designed to work together with a further handling device, inparticular of the same type, in order to carry out the work step, and/orto work together with a human in order to carry out the work step.

The handling device is in particular designed to carry out the work stepin the working region. The working region is for example a productionfloor or a production segment. The working region is preferably athree-dimensional spatial region. Particularly preferably, the handlingdevice is situated in the working region.

The workpiece is for example a component and/or a part to be processed.The handling device is for example designed to grasp and/or to processthe workpiece, in particular using processing elements of the handlingdevice and/or of a station. For example, the handling device is designedto grip the workpiece, to process it, for example to drill it, grind it,weld it, and/or to put down the workpiece. Alternatively and/or inaddition, the handling device is designed to process, join, and/ortransport a plurality of workpieces.

At least one station is situated in the working region of the handlingdevice. The station is situated in stationary fashion in the workingregion; alternatively, the station is situated in the working region inmobile fashion. Stations are in particular flat and/or spatial segmentsof the working region of the handling device. The station is inparticular a processing station, for example a station at which theworkpiece can be processed. Alternatively and/or in addition, thestation is a location at which the workpiece is made available, forexample a pallet with raw parts, and/or the station is a station atwhich a finally processed workpiece can be deposited, such as a pallet.For example, a distinction is made between workpiece sources andworkpiece end points.

The handling assembly includes at least one monitoring sensor. Themonitoring sensor is preferably situated in stationary fashion;alternatively, the monitoring sensor is manually guided, roboticallyguided, or is situated in movable fashion in the working region in someother way. The monitoring sensor is designed for the optical monitoringof the working region, the optical monitoring being provided asmonitoring data. The monitoring sensor is preferably a 3D sensor, forexample a stereo camera. Preferably, the monitoring sensor is amonitoring camera, for example a video camera or a still camera. Themonitoring camera is for example a black-and-white camera or a colorcamera, the latter being in particular a CCD camera or CMOS camera. Themonitoring data including particular images from the optical monitoringof the working region. In particular, the images are also calledmonitoring images. In addition, it is possible for the handling assemblyto have a plurality of monitoring sensors, the monitoring sensors beingconfigured and/or designed such that they image the same segments, withpartial overlapping, and that in this way the optical monitoring of thevarious monitoring sensors can be combined to form a global monitoringof the working region.

The handling assembly includes a localization module. The localizationmodule is for example a processor module, a microcontroller, or acomputing unit. In particular, the localization module has a dataconnection to the monitoring sensor, the monitoring data being providedto the localization module. The localization module is designed toevaluate and/or assess the monitoring data.

The localization module is designed to recognize the stations, inparticular based on and/or in the monitoring data. In particular, thelocalization module recognizes the stations in the monitoring data, forexample in the monitoring images of the monitoring area, and/or canassign the location of the stations in the working area. In addition,the localization module is designed to determine a position of thestation as the station position based on the monitoring data for arecognized station. In addition, it can be provided that thelocalization module is designed to also determine the presence and/or aposition of the workpieces in the station. For example, the localizationmodule checks for a presence of workpieces in the stations, inparticular in a pallet or in a nest, the handling device preferably thenhandling only completely filled workpieces. Alternatively and/or inaddition, the localization module can be designed to determine theabsolute position of the workpiece in the station. In particular, thedetermination of the station position can be a determination with anaccuracy better than one millimeter. The localization module is inparticular designed to recognize the stations permanently and/or incyclical fashion, and/or to determine the station positions permanentlyand/or in cyclical fashion. For example, the localization module isdesigned to determine the station position at least five times duringthe work step.

In accordance with an embodiment of the present invention, a examplehandling assembly is provided having a handling device that trainsand/or initializes a handling device, in particular a multi-arm robot,in time-saving fashion, so that in particular an expert is not required.In particular, the present invention provides an example handling devicethat enables a rapid initialization of a multi-axle robot having morethan three axles. In particular, this is enabled in that the stations inthe working region can be recognized largely automatically using a 3Dsensor, and the handling device can carry this out.

In a possible embodiment of the present invention, the localizationmodule includes a training module having training data. In particular,the training data can be provided to the training module and/or can bestored therein. The training data are preferably image data. Forexample, training data are images in which stations can be seen havingstandard geometries, shapes, and/or dimensions. The training module isdesigned to determine recognition features for detecting the stations,based on the training data. For example, the recognition features arethe geometry, the dimension, the shape, the structure, the contrast,and/or further properties of the stations. The station recognition datainclude the recognition features. The station recognition data includein particular items of information as to how stations can be foundand/or detected in the monitoring data and/or the optical monitoring ofthe working region. The localization module is designed to recognize thestations based on the station recognition data. The recognition featurescan be used in particular to classify elements in the monitoring data,in the images of the working region, and/or in a model of the workingregion.

The training module is preferably designed to determine the recognitionfeatures based on machine learning. For example, the training module isdesigned as a neural network. Alternatively and/or in addition, thetraining module is designed to extract the recognition features from thetraining data via supervised learning, partly supervised learning,and/or via reinforcement learning. This embodiment is based on the ideaof providing a universally usable handling assembly that recognizes thestations in different working regions.

Optionally, it is provided that the handling assembly includes a modelproduction module. The model production module is designed to generate amodel of the working region. The model of the working region is inparticular a 3D model. Preferably, the model of the working region is aCAD model. Specifically, the model is a model produced by the sensorand/or a model based on the monitoring data. The model of the workingregion includes in particular the position of the stations and/or theposition of the handling device in the working region.

The handling device includes a display unit for displaying the model.The display unit is for example a monitor, and specifically atouchscreen monitor via which a user can input data and/or selectthings. The display unit is designed for the graphic and/or pictorial,two-dimensional or three-dimensional display of the model.

Optionally, it is provided that segments can be selected by a user inthe displayed model as additional recognition features. For example, theuser can select regions and/or segments in the model that the userrecognizes and/or identifies as stations. The selected additionalfeatures are included in the processing recognition data. In particular,the user can also expand known stations if these stations for examplehave not been completely acquired and/or recognized. This embodiment isbased the user sharing and/or training additional information and/orstations of the handling assembly that have not been recognized.

An embodiment of the present invention provides that the handlingassembly includes a control module. The control module is in particulara computing unit, a processor, or a microcontroller. The control moduleis designed to control the handling device to carry out a work stepbased on the station position and/or positions. In particular, thecontrol module is designed to control the handling device for thecarrying out of exactly one work step and/or a multiplicity of worksteps, based on the station positions. For example, the control moduleis designed to control the handling device to move and/or transport theworkpiece from a first station position to a second station position. Inparticular, work steps are processes that begin at a first stationhaving a first station position and end at a second station having asecond station position. In addition, it can be possible to travel toand/or integrate further stations, having further station positions,between the first station and the second station. This embodiment isbased on the idea of providing a handling assembly that canautomatically plan the processes, this planning being based on thestation positions that have been determined by the localization module.

The handling assembly preferably includes a task definition module. Thetask definition module is a computing unit, a processor, or amicrocontroller. In particular, the task definition module can be partof the control module. The task definition module is designed so thatthe user can select and/or define the work step, in particular so thatthe work step can be semantically defined and/or selected. Alternativelyand/or in addition, the selection and/or the definition of the work stepis possible using the optical representation on a and/or the displayunit. In particular, the definition and/or the selection of the workstep takes place through a description and/or definition of the initialstate and the target state, such as the definition of the first stationand the definition and/or determination of the second station. Forexample, this definition of the work step is achieved through aselection of a work piece source and a workpiece end point, a stationbeing assigned to the workpiece sources and another station beingassigned to the workpiece end point. The selection and/or definition bythe user can specifically be done purely textually, for example “moveall workpieces from pallet A to pallet B.” Preferably, the first stationcan be selected optically on the display unit, and in particular thesecond station is also selectable on the display unit. This embodimentis based on the idea of providing a handling assembly in which asoftware expert is not required for the determination of a processand/or of a work step.

Particularly preferably, the work step has at least two parameters thatare to be defined. In particular, the work step has exactly twoparameters to be defined; alternatively, the work step has a pluralityof parameters to be defined. The two parameters to be defined include astart position and an end position. In particular, the user can selectone of the stations in the displayed model as start position, and afurther station and/or the same station can be selected in the displayedmodel as and position. Here it is in particular provided that the workstep having the two parameters to be defined begins at the startposition and ends at the end position.

Optionally, it is provided that after termination of the work step theworkpiece is in an end position. In particular, the end position isdefined as a point in three-dimensional space, and an angular positioncan be assigned to the workpiece at this point, for example using Eulerangles. In particular, the end position can be selected by the userusing the task planning module. For example, in the task definitionmodule the user can set and/or select the position, in particularoptically, in the form of coordinates and angular position. Preferably,the task planning module is designed to determine the deposition pointof the workpiece based on the monitoring data, for example based on afitting algorithm. In particular, it is provided that, for the case inwhich the fitting algorithm ascertains a plurality of depositionpossibilities, the user can select the preferred deposition location.

Particularly preferably, the handling assembly includes a safety module.The safety module is preferably a computing unit, a processor, or amicrochip. The safety module has a data connection to the monitoringsensor in order to take over the monitoring data during the work step.In particular, the safety module is provided with the monitoring data ofthe monitoring sensor in cyclical fashion, for example once per secondor once every ten seconds. The safety module is designed to control theassembly device based on changes in the monitoring region. For example,the safety module is designed to react when the configuration of thestations in the working region of the handling device changes, thesafety module for example controlling the localization module to make anew determination of the station positions for this purpose.

Alternatively and/or in addition, the safety module is designed torecognize when a human being is situated in the working region of thehandling device, the safety module recognizing in particular whetherthere is a risk of injury to the human being, and, upon detection of thehuman being and/or when there is a risk of injury to the human being,the safety module being designed to halt the handling device. Inaddition, the safety module can be designed to control the handlingdevice to resume and/or continue the work step when the human beingleaves the working region of the handling device. This embodiment isbased on providing a particularly safe handling assembly.

In an embodiment of the present invention, it is provided that thehandling assembly includes a path planning module. The path planningmodule is a computing unit, a processor, or a microchip. The pathplanning module is designed to determine a trajectory of the handlingdevice and/or of the workpiece, the trajectory being the spatiotemporalpath of the workpiece during the carrying out of the work step. Inparticular, the path planning module is designed to determine thetrajectory of the handling device and/or of the workpiece so as to becollision-free, where “collision-free” relates in particular to theavoidance of a collision of the workpiece with the handling deviceand/or with objects in the working region of the handling device.Alternatively and/or in addition, the path planning module is designedto exclude a collision between a first arm and a second arm of thehandling device. In particular, the determination of the trajectory ofthe handling device by the path planning module is done based on thestation positions and/or the monitoring data of the monitoring sensor.

Particularly preferably, the handling assembly includes a testingmodule. The testing module includes, in particular, rules. The rules canin particular be defined by a user and/or can be stored in the testingmodule. The rules include for example properties of the workpiece and/orof the stations. For example, a rule may state: “do not tilt theworkpiece in this or that direction.” Further examples of rules: “do notput down the workpiece if it does not lie horizontally” or “do notprocess the workpiece until the cover of the workpiece has beenremoved.” The testing module is designed to control the handling devicein order to carry out and/or to terminate the work step based on thefollowing of the rules. For example, the testing module is designed tohalt the work step and/or the handling device when a rule has not beenfollowed.

A particularly preferred embodiment of the present invention providesthat the handling assembly includes an additional sensor for the fineresolution of a segment of the working region and/or of the overallworking region. The additional sensor is for example a feeler, a camera,or a laser scanner. The additional sensor can be situated in spatiallyfixed fashion in the working region; alternatively, the additionalsensor is an additional sensor carried along with the handling device.In particular, the additional sensor is designed to provide fineresolution data, the fine resolution data including the fine resolutionof the segment by the additional sensor. The handling assembly includesa final localization module for the more precise determination of theorientation of the station based on the station position, the fineresolution data, the station recognition data, and/or the sensor data.For example, the additional sensor is an additional sensor carried alongwith the handling device, the additional sensor being carried into thecorresponding region by the handling device for the fine resolution, andthe additional sensor recording and/or measuring this region, thisregion being more precisely resolved by the final localization module.This embodiment is based on the idea of providing a possibility withreduced data for defining segments more precisely in a handlingassembly.

A further subject matter of the present invention is a method forcarrying out at least one work step with a handling device. Using amonitoring sensor, a working region of the handling device is opticallymonitored. The monitoring sensor provides the optical monitoring asmonitoring data. Based on the monitoring data, and based on storedstation recognition data, the stations in the working region aredetected and/or recognized, and a position is determined as stationposition for the recognized stations.

A further subject matter of the present invention is a computer programhaving programming code in order to carry out all steps of the methodwhen the program is executed on a computer and/or on the handlingassembly.

Further features, advantages, and effects of the present inventionresult from the description below of preferred exemplary embodiments ofthe present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a schematic view of an exemplary embodiment of a handlingassembly.

FIGS. 2a and 2b show a schematic view of a display unit of the handlingassembly of FIG. 1.

FIG. 3 shows a flow diagram for an exemplary embodiment of the methodfor carrying out a work step with the handling device.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

FIG. 1 shows a schematic view of a handling assembly 1. Handlingassembly 1 includes a handling device 2. Handling device 2 is situatedin a working region 3. Handling device 2 is realized as a multi-axlerobot, and is in particular movable and/or pivotable about at leastthree axles. Handling device 2 has a gripper 4. Gripper 4 is capable ofbeing moved in working region 3 by handling device 2. In particular,gripper 4 is movable in three dimensions in working region 3. Workingregion 3 is for example a manufacturing plant, a production area, and/ora factory floor segment.

Stations 5 are situated in working region 3. Stations 5 are for exampledeposition locations for a workpiece 6. For example, one station 5 canbe understood as a workpiece source, and another station 5 can beunderstood as a workpiece end point. For example, one station 5 is apallet on which the workpieces are situated and/or are capable of beingsituated. Stations 5 are preferably situated at fixed locations inworking region 3;

alternatively, stations 5 can be displaced and/or are movable in workingregion 3 of handling device 2.

Handling device 2 is designed to carry out a work step. The work stepcan for example be “grasp a workpiece 6 in a first station 5 withgripper 4 and transport workpiece 6 to the other station 5 and put itdown there.” In addition, handling device 2 can carry out a multiplicityof work steps, for example “grasp workpiece 6 with gripper 4 and processworkpiece 6, for example with a drill.”

Handling assembly 1 includes two monitoring sensors 7. Monitoringsensors 7 are designed as monitoring cameras. Monitoring sensors 7 aredesigned for the optical monitoring of working region 3. For thispurpose, monitoring sensors 7 record working region 3 in the form ofmonitoring images. Monitoring sensors 7 are designed to providemonitoring data, the monitoring data including in particular themonitoring images. In particular, monitoring sensors 7 are configured insuch a way that the monitoring images have a region of overlap, theregion of overlap showing a common region of working region 3.Particularly preferably, monitoring sensors 7 are stereo cameras, thesestereo cameras producing a three-dimensional image of working region 3.The monitoring data are provided to a central evaluation unit 8.

Central evaluation unit 8 is designed for example as a computing unit.It can be provided that central evaluation unit 8 is situated indecentralized fashion, for example in a server room; alternatively,evaluation unit 8 is a central evaluation unit 8 integrated for exampleinto handling device 2.

Central evaluation unit 8 includes a localization module 9. Themonitoring data are provided to localization module 9. Localizationmodule 9 includes station recognition data 10. Station recognition data10 include in particular information and/or features that permit theinference of a station in the monitoring data and/or in the monitoringimages. For example, station recognition data 10 include informationabout the geometry, the contours, the contrast, and/or the structure ofstations 5 in the monitoring data and/or monitoring images.

Localization module 9 is designed to recognize a station based on themonitoring data and station recognition data 10, and, based thereon, todetermine station positions 11 for a recognized station. Stationpositions 11 are in particular coordinates in a three-dimensional space,and indicate the position of station 5 in working region 3 and/or in themonitoring images. In addition, station positions 11 can also includeinformation about the orientation, for example the angular position.

Central evaluation unit 8 includes a model production module 12. Modelproduction module 12 receives station positions 11 and provides themonitoring data. Model production module 12 is designed to produce amodel 13 of working region 3 with stations 5 and handling device 2,based on the monitoring data and the station positions 11. Model 13 ishere a three-dimensional model. Preferably, model 13 is a CAD model ofworking region 3, including stations 5 and handling device 2. For thedescription of the orientation and/or the positions of stations 5 and/orof handling device 2 in model 13, model production module 12 can includean auxiliary coordinate system 14.

Central evaluation unit 8 has a task definition module 15. Taskdefinition module 15 is designed to define and/or select the workingstep that is to be carried out on workpiece 6 by handling device 2 inworking region 3. In particular, task definition module 15 is designedin such a way that a user can more precisely define and/or select thetask and/or the work step on a semantic basis. For example, for thispurpose task definition module 15 includes semantic phrases 16, such as“grip,” “lift,” or “transport.” The user can define and/or link thesesemantic phrases 16 by determining and/or inputting station positions11. In addition, the user can also complete the task and/or the semanticphrases 16 by determining an end position 17. End position 17 includes,in addition to the coordinates for determining the deposition location,information about the orientation in space, for example three Eulerangles. Alternatively, it can be provided that, using task definitionmodule 15, the user can define and/or select the task and/or the workstep via optical selection and/or optical marking.

Central evaluation unit 8 includes a path planning module 18. Pathplanning module 18 is designed, based on the task, the work step, and/orstation positions 11, of planning a trajectory X(t), this trajectoryX(t) describing the path-time curve of workpiece 6 during the work step.Path planning module 18 is in addition designed to determine trajectoryX(t) in such a way that the trajectory X(t) is collision-free, i.e., nocollision occurs of workpiece 6 with handling device 2 and/or withobjects in working region 3.

In addition, it is provided that central evaluation unit 8 includes acontrol module, the control module being designed to control handlingdevice 2 by carrying out the work step. For example, the control modulecontrols handling device 2 in such a way that handling device 2 gripsworkpiece 6 with gripper 4 and transports it along trajectory X(t).

FIG. 2a shows the view of a display unit, model 13 of working region 3being displayed. Model 13 includes four stations 6 a, 6 b, 6 c, and 6 d.Stations 6 a, 6 c, and 6 d form workpiece end points, and station 6 bforms a workpiece source. The work step defined and/or selected by thismodel is a work step based on the workpiece. The work step includesthree processes 19 a, 19 b, and 19 c. Processes 19 a, 19 b, and 19 c areprocesses that can be carried out by a single arm of handling device 2.For example, process 19 a is defined as “grasp a workpiece 6 at station5 b and put it down at station 5 a.” Process 19 b is defined for exampleas “grasp an object 6 at station 5 b, transport it to station 5 b, andput it down there.” Process 19 c is defined for example as “graspworkpiece 6 and put it down at station 5 c.” For example, the work stepcan be defined in that a user moves a workpiece 6 from one station 5 toanother station 5, this work step corresponding to the transfer of theworkpiece from the first station to the second station.

FIG. 2b also shows a model 13 of working region 3, this model including,as workpiece sources, stations 5 a, 5 b, and 5 e. Model 13 includes, asworkpiece end points, stations 5 c, 5 d, and 5 f. The work step definedand/or selected by this model is a work step based on a pallet. Thismeans in particular that this work step does not transport and/orprocess any individual workpiece 6; rather, an entire workpiece palletis transported and/or processed. In particular, processes 19 a, 19 b,and 19 c for carrying out the work step are processes that are to becarried out using two arms of handling device 2. Process 19 a is forexample designed to transport a pallet of workpieces 6 from station 6 ato station 5 c. Process 19 b is for example defined so as to transport apallet from station 5 b to station 5 f. Process 19 c is designed totransport a pallet of workpieces 6 from station 5 d to station 5 e. Inparticular, model 13 also illustrates that stations can have differentshapes and/or sizes, station 5 d being square and much smaller thanrectangular station 5 a.

FIG. 3 shows a flow schema of a method for carrying out a working stepwith handling device 2. In a training step 100, a large amount oftraining data is provided to handling assembly 1 and/or to localizationmodule 9. The training data include for example images indicatingworking regions 3 with stations 5. Here, localization module 9 includesa training module, and, in training step 100, the training moduleextracts, from the training data, recognition features for the detectionof stations in the monitoring data. These recognition features areprovided to station recognition data 10. In particular, in this stepclassifications and/or structures for recognizing the stations areobtained. This step can be carried out for example by a neural network.Training step 100 is followed by a localization step 200. Inlocalization step 200, based on the monitoring data, station position 11of a station, and/or of a multiplicity of stations, 5 are defined. Here,for example the monitoring data and/or the monitoring images areexamined for structures and/or features that indicate stations 5. Basedon the stations 5 that are found, the positions and/or orientations ofstations 5 are determined as station positions 11.

In a task definition step 300, a person defines a task. In particular,the task is defined and/or selected by the person in a semantic and/oroptical selection. For example, for this purpose the user can selectpreviously accomplished tasks, for example “transport and drillworkpiece 6.” These selected tasks can be defined more precisely inparticular using station positions 11, for example “grasp a workpiecefrom station 5 at station position 11 and drill this workpiece 6.”

In a planning step 400, based on the defined task and the stationpositions, the work step is planned and a trajectory X(T) is determined,this trajectory being a trajectory of the workpiece free of collisionswith objects in working region 3. Based on this trajectory X(T),handling device 2 is controlled in order to carry out the work step.

1-15. (canceled)
 16. A handling assembly, comprising: a handling deviceconfigured to carry out at least one work step with and/or on aworkpiece in a working region of the handling device, stations beingsituated in the working region; at least one monitoring sensorconfigured to optically monitor the working region and to providemonitoring data based on the optical monitoring; and a localizationmodule configured to recognize the stations and to determine arespective station position for each of the stations.
 17. The handlingassembly as recited in claim 16, wherein the localization moduleincludes a training module with training data, the training module beingconfigured to determine, based on the training data, recognitionfeatures as station recognition data for detection of the stations, thelocalization module being configured to recognize the stations based onstation recognition data.
 18. The handling assembly as recited in claim16, further comprising: a model production module configured to generatea model of the working region.
 19. The handling assembly as recited inclaim 18, further comprising: a display unit configured to display thegenerated model, segments being selectable in the displayed model by auser as additional recognition features, the station recognition dataincluding the additional recognition features.
 20. The handling assemblyas recited in claim 16, further comprising: a control module configuredto control the handling device to carry out the work step based on therespective station position.
 21. The handling assembly as recited inclaim 16, further comprising: a task definition module for a semanticselection and/or definition of the work step.
 22. The handling assemblyas recited in claim 21, wherein the work step has at least twoparameters that are to be defined, the two parameters including a startposition and an end position, such that for the user, one of thestations is selectable in the displayed model as the start position, andone of the stations is selectable and/or is capable of being set in thedisplayed model as the end position.
 23. The handling assembly asrecited in claim 22, wherein, after termination of the work step, theworkpiece is in an end position, the end position being selectable bythe user via the task definition module and/or being determined based onthe monitoring data.
 24. The handling assembly as recited in claim 16,further comprising: a path planning module configured to determine atrajectory of the handling device and/or of the workpiece during acarrying out of the work step.
 25. The handling assembly as recited inclaim 16, further comprising: a safety module connected in terms of datato the monitoring sensor to take over the monitoring data during thework step, and being configured to control the handling device based onchanges in the working region.
 26. The handling assembly as recited inclaim 16, further comprising: a testing module including rules andconfigured to control the handling device to carry out and/or toterminate the work step based on the following of the rules.
 27. Thehandling assembly as recited in claim 17, further comprising: anadditional sensor configured for fine resolution of a segment of theworking region and providing fine resolution data based on the fineresolution; and a fine localization module configured for a more precisedetermination of an orientation of the stations based on the respectivestation position, and/or the fine resolution data, and/or the stationrecognition data, and/or the sensor data.
 28. The handling assembly asrecited in claim 27, wherein the additional sensor is carried along onthe handling device.
 29. A method for operating a handling device with ahandling assembly, comprising the following steps: optically monitoring,using a monitoring sensor, a working region of the handling device;providing, by the monitoring sensor, monitoring data of the workingregion; recognizing stations in the working region based on themonitoring data; and determining a station position for the recognizedstations.
 30. A non-transitory computer-readable storage medium on whichis stored a computer program having program code for operating ahandling device with a handling assembly, the computer program, whenexecuted by a computer or the handling assembly, causing the computer orhandling assembly to perform the following steps: optically monitoring,using a monitoring sensor, a working region of the handling device;providing, by the monitoring sensor, monitoring data of the workingregion; recognizing stations in the working region based on themonitoring data; and determining a station position for the recognizedstations.